A holistic perception system of internal and external monitoring for ground autonomous vehicles: AutoTRUST paradigm

Alexandros Gkillas; Christos Anagnostopoulos; Nikos Piperigkos; Dimitris Tsiktsiris; Theofilos Christodoulou; Theofanis Siamatras; Dimitrios Triantafyllou; Christos Basdekis; Theoktisti Marinopoulou; Panagiotis Lepentsiotis; Elefterios Blitsis; Aggeliki Zacharaki; Nearchos Stylianidis; Leonidas Katelaris; Lamberto Salvan; Aris S. Lalos; Christos Laoudias; Antonios Lalas; Konstantinos Votis

arXiv · 2508.17969

A holistic perception system of internal and external monitoring for ground autonomous vehicles: AutoTRUST paradigm

Alexandros Gkillas·Christos Anagnostopoulos·Nikos Piperigkos·Dimitris Tsiktsiris·Theofilos Christodoulou·Theofanis Siamatras·Dimitrios Triantafyllou·Christos Basdekis·Theoktisti Marinopoulou·Panagiotis Lepentsiotis·Elefterios Blitsis·Aggeliki Zacharaki·Nearchos Stylianidis·Leonidas Katelaris·Lamberto Salvan·Aris S. Lalos·Christos Laoudias·Antonios Lalas·Konstantinos Votis

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Abstract

This paper introduces a holistic perception system for internal and external monitoring of autonomous vehicles, with the aim of demonstrating a novel AI-leveraged self-adaptive framework of advanced vehicle technologies and solutions that optimize perception and experience on-board. Internal monitoring system relies on a multi-camera setup designed for predicting and identifying driver and occupant behavior through facial recognition, exploiting in addition a large language model as virtual assistant. Moreover, the in-cabin monitoring system includes AI-empowered smart sensors that measure air-quality and perform thermal comfort analysis for efficient on and off-boarding. On the other hand, external monitoring system perceives the surrounding environment of vehicle, through a LiDAR-based cost-efficient semantic segmentation approach, that performs highly accurate and efficient super-resolution on low-quality raw 3D point clouds. The holistic perception framework is developed in the context of EU's Horizon Europe programm AutoTRUST, and has been integrated and deployed on a real electric vehicle provided by ALKE. Experimental validation and evaluation at the integration site of Joint Research Centre at Ispra, Italy, highlights increased performance and efficiency of the modular blocks of the proposed perception architecture.

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Alexandros Gkillas, Christos Anagnostopoulos, Nikos Piperigkos, Dimitris Tsiktsiris, Theofilos Christodoulou, Theofanis Siamatras, Dimitrios Triantafyllou, Christos Basdekis, Theoktisti Marinopoulou, Panagiotis Lepentsiotis, Elefterios Blitsis, Aggeliki Zacharaki, Nearchos Stylianidis, Leonidas Katelaris, Lamberto Salvan, Aris S. Lalos, Christos Laoudias, Antonios Lalas, Konstantinos Votis. 2025-08-25. A holistic perception system of internal and external monitoring for ground autonomous vehicles: AutoTRUST paradigm. https://arxiv.org/abs/2508.17969

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